Calibration method to improve transfer from simulation to quadruped robots
- Author
- Gabriel Urbain, Alexander Vandesompele, Francis wyffels (UGent) and Joni Dambre (UGent)
- Organization
- Project
-
- HBP SGA1 (Human Brain Project Specific Grant Agreement 1)
- Abstract
- Using passive compliance in robotic locomotion has been seen as a cheap and straightforward way of increasing the performance in energy consumption and robustness. However, the control for such systems remains quite challenging when using traditional robotic techniques. The progress in machine learning opens a horizon of new possibilities in this direction but the training methods are generally too long and laborious to be conducted on a real robot platform. On the other hand, learning a control policy in simulation also raises a lot of complication in the transfer. In this paper, we designed a cheap quadruped robot and detail a calibration method to optimize a simulation model in order to facilitate the transfer of parametric motor primitives. We present results validating the transfer of Central Pattern Generators (CPG) learned in simulation to the robot which already give positive insights on the validity of this method.
- Keywords
- Embodiment, Compliant quadruped locomotion, Transfer learning, CPG, MORPHOLOGICAL COMPUTATION, FEEDBACK
Downloads
-
sab2018.pdf
- full text
- |
- open access
- |
- |
- 4.59 MB
Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-8571601
- MLA
- Urbain, Gabriel, et al. “Calibration Method to Improve Transfer from Simulation to Quadruped Robots.” FROM ANIMALS TO ANIMATS 15, edited by Poramate Manoonpong et al., vol. 10994, Springer, 2018, pp. 102–13, doi:10.1007/978-3-319-97628-0_9.
- APA
- Urbain, G., Vandesompele, A., wyffels, F., & Dambre, J. (2018). Calibration method to improve transfer from simulation to quadruped robots. In P. Manoonpong, J. C. Larsen, X. Xiong, J. Hallam, & J. Triesch (Eds.), FROM ANIMALS TO ANIMATS 15 (Vol. 10994, pp. 102–113). https://doi.org/10.1007/978-3-319-97628-0_9
- Chicago author-date
- Urbain, Gabriel, Alexander Vandesompele, Francis wyffels, and Joni Dambre. 2018. “Calibration Method to Improve Transfer from Simulation to Quadruped Robots.” In FROM ANIMALS TO ANIMATS 15, edited by Poramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, and Jochen Triesch, 10994:102–13. Springer. https://doi.org/10.1007/978-3-319-97628-0_9.
- Chicago author-date (all authors)
- Urbain, Gabriel, Alexander Vandesompele, Francis wyffels, and Joni Dambre. 2018. “Calibration Method to Improve Transfer from Simulation to Quadruped Robots.” In FROM ANIMALS TO ANIMATS 15, ed by. Poramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, and Jochen Triesch, 10994:102–113. Springer. doi:10.1007/978-3-319-97628-0_9.
- Vancouver
- 1.Urbain G, Vandesompele A, wyffels F, Dambre J. Calibration method to improve transfer from simulation to quadruped robots. In: Manoonpong P, Larsen JC, Xiong X, Hallam J, Triesch J, editors. FROM ANIMALS TO ANIMATS 15. Springer; 2018. p. 102–13.
- IEEE
- [1]G. Urbain, A. Vandesompele, F. wyffels, and J. Dambre, “Calibration method to improve transfer from simulation to quadruped robots,” in FROM ANIMALS TO ANIMATS 15, Frankfurt, GERMANY, 2018, vol. 10994, pp. 102–113.
@inproceedings{8571601,
abstract = {{Using passive compliance in robotic locomotion has been seen as a cheap and straightforward way of increasing the performance in energy consumption and robustness. However, the control for such systems remains quite challenging when using traditional robotic techniques. The progress in machine learning opens a horizon of new possibilities in this direction but the training methods are generally too long and laborious to be conducted on a real robot platform. On the other hand, learning a control policy in simulation also raises a lot of complication in the transfer. In this paper, we designed a cheap quadruped robot and detail a calibration method to optimize a simulation model in order to facilitate the transfer of parametric motor primitives. We present results validating the transfer of Central Pattern Generators (CPG) learned in simulation to the robot which already give positive insights on the validity of this method.}},
author = {{Urbain, Gabriel and Vandesompele, Alexander and wyffels, Francis and Dambre, Joni}},
booktitle = {{FROM ANIMALS TO ANIMATS 15}},
editor = {{Manoonpong, Poramate and Larsen, Jørgen Christian and Xiong, Xiaofeng and Hallam, John and Triesch, Jochen}},
isbn = {{9783319976273}},
issn = {{0302-9743}},
keywords = {{Embodiment,Compliant quadruped locomotion,Transfer learning,CPG,MORPHOLOGICAL COMPUTATION,FEEDBACK}},
language = {{eng}},
location = {{Frankfurt, GERMANY}},
pages = {{102--113}},
publisher = {{Springer}},
title = {{Calibration method to improve transfer from simulation to quadruped robots}},
url = {{http://doi.org/10.1007/978-3-319-97628-0_9}},
volume = {{10994}},
year = {{2018}},
}
- Altmetric
- View in Altmetric
- Web of Science
- Times cited: